CN114671382A - Aerial work platform control method, aerial work platform and storage medium - Google Patents
Aerial work platform control method, aerial work platform and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
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Abstract
The invention relates to the technical field of aerial work platforms, in particular to an aerial work platform control method, an aerial work platform and a storage medium. The method comprises the steps of obtaining the relation between the moment sum M' of all elements of the aerial work platform moment under the current working condition, which is influenced by the boom amplitude angle, and the maximum boom elongation allowed under the current working condition based on the boom amplitude angle of the actual load under the current working condition; acquiring a preset moment sum M corresponding to a rated load under the current working condition; assigning the preset moment sum M to the actual moment sum M', and calculating the maximum extension amount of the arm support allowed under the current working condition; and controlling the maximum elongation of the boom obtained by the elongation of the boom. Therefore, the maximum extension amount of the arm support which can be reached when the aerial work platform is safe and does not tip over can be ensured under different working conditions and different loads, so that the safe working range of the aerial work platform is enlarged, and the utilization rate of the aerial work platform is improved.
Description
Technical Field
The invention relates to the technical field of aerial work platforms, in particular to an aerial work platform control method, an aerial work platform and a storage medium.
Background
When calculating the stability of the aerial work platform, the external load imparted is a nominal value, i.e. the actual load values below this nominal value are all calculated at the nominal value. In fact, when the actual load value is smaller than the rated value, the maximum elongation of the boom under different working conditions at the same variable amplitude angle is different from the maximum elongation of the boom calculated by the rated load value, and the maximum elongation of the boom calculated by the rated load value greatly limits the maximum safe working range of the boom under different loads. Therefore, the utilization rate of the aerial work platform is low in the safe working range of the aerial work platform and under the condition that the actual load of the aerial work platform is smaller than the rated load.
Therefore, a method for controlling an aerial work platform and an aerial work platform are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a control method of an aerial work platform, the aerial work platform and a storage medium, which can obtain the maximum elongation of a current arm support according to the current working condition and the actual load so as to improve the utilization rate of the aerial work platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for an aerial work platform comprises the following steps:
based on the boom amplitude angle of the actual load under the current working condition, obtaining the relation between the moment sum M' of all elements of the aerial work platform under the current working condition, which is influenced by the boom amplitude angle, and the maximum boom elongation allowed under the current working condition;
acquiring a preset moment sum M corresponding to a rated load under the current working condition;
assigning the preset moment sum M to the actual moment sum M', and calculating the maximum extension amount of the arm support allowed under the current working condition;
and controlling the maximum elongation of the boom obtained by the elongation of the boom.
As a preferred technical scheme of the control method for the aerial work platform, the elements of the moment influenced by the amplitude angle of the arm support comprise the arm support, an actual load, a rated load, a manual operating force, a wind load, a special load and the work platform.
As an optimal technical scheme of the control method of the aerial work platform, the working conditions comprise a flat ground working condition and a gradient working condition, and when the aerial work platform is in the flat ground working condition, the work gradient of the aerial work platform is delta = 0;
when the aerial work platform is in a slope working condition, the work slope delta of the aerial work platform is larger than 0.
As a preferable technical solution of the above-mentioned aerial work platform control method,
defining a base coordinate system of the aerial work platform by taking a tipping line as a y axis and taking a horizontal line where a contact point of a tire and the ground is positioned as an x axis; the amplitude variation angle of the arm support is theta, the corresponding elongation under rated load is delta, and the manual operation force is FHand (W.E.)(ii) a The delta, theta, delta and FHand (W.E.)Are all known values;
the weight of the operation platform is S3The position of the center of gravity is relative to the base coordinate system
Moment of operation platform
；
The weight of the rated load is S4The position of the center of gravity is relative to the base coordinate system
Rated load moment
；
The actual load has a weight of
The position of the center of gravity is relative to the base coordinate system
Then, thenActual load force
；
The weight of the arm support is S5The position of the center of gravity is relative to the base coordinate system
Moment of arm support
；
The acting position of the manual operation force is relative to the base coordinate system
Then the manual operating torque
Assigning the preset moment sum M to the actual moment sum M', calculating and obtaining
Said
The maximum elongation of the arm support allowed under the actual load under the current working condition is obtained.
As a preferable technical solution of the above-mentioned aerial work platform control method,
under the current working condition, the structural load moment of the aerial work platform meets the requirement
Wherein;
the corresponding elongation delta under different rated loads is based on a formula
Obtaining;
wherein K is a safety factor, MWind (W)The total moment of the wind load borne by the aerial work platform and the rated load; mSpecially for treating chronic bronchitisA special load moment.
As a preferable technical scheme of the aerial work platform control method, the corresponding elongation delta under different rated loads is based on a formula
Obtaining comprises the following steps:
setting the weight of the chassis to S1The position of the center of gravity is relative to the base coordinate system
Moment of chassis
；
Set the weight of the turntable to S2The position of the center of gravity is relative to the base coordinate system
Moment of the rotary table
；
Under the working condition that no special load exists indoors, the total wind load moment borne by the aerial work platform and the rated load is
The special load moment is
；
Setting structural load moment
By
Obtaining:
and all the K, the theta and the delta are known values, and the delta value is obtained by the formula under the condition of different theta and different delta.
As a preferable technical scheme of the aerial work platform control method, the work gradient of the aerial work platform work is acquired and output through an inclination angle detection sensor.
As a preferable technical scheme of the aerial work platform control method, the amplitude variation angle of the arm support is acquired and output through an angle sensor arranged on the arm support.
The invention provides an aerial work platform, which comprises the aerial work platform control method in any scheme.
The invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the aerial work platform control method of any of the above aspects.
The invention has the beneficial effects that:
in order to ensure the safety of the aerial work under the working condition, the maximum elongation of the arm support allowed under the current working condition is unknown, so that the relation between the moment sum M' of all elements of the moment of the aerial work platform under the current working condition, which is influenced by the amplitude variation angle of the arm support, and the maximum elongation of the arm support allowed under the current working condition can be obtained. Therefore, the maximum extension amount of the arm support can be ensured when the aerial work platform is safe and does not tip over under different working conditions and different loads, so that the safe working range of the aerial work platform is enlarged, and the utilization rate of the aerial work platform is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for controlling an aerial work platform according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an aerial work platform provided by an embodiment of the present invention;
FIG. 3 is a schematic position diagram of an aerial work platform provided by an embodiment of the invention under a flat ground working condition;
fig. 4 is a schematic position diagram of an aerial work platform provided by an embodiment of the invention under a slope condition.
In the figure:
1. a chassis; 2. a turntable; 3. a boom; 4. an operation platform; 5. an arm support amplitude angle detection unit; 6. a boom length detection unit; 7. a variable amplitude oil cylinder; 8. a multi-way valve; 9. a control unit; 10. a load weighing unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used based on the orientations or positional relationships shown in the drawings for convenience of description and simplicity of operation, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
When the rated load of the aerial work platform is larger than the actual load in the working process, the maximum elongation of the arm support under different working conditions and the same amplitude angle is different from the maximum elongation of the arm support calculated according to the rated load value, and the maximum elongation of the arm support calculated according to the rated load value greatly limits the maximum safe working range of the arm support under different loads.
Therefore, the embodiment of the invention provides a control method of an aerial work platform, which can determine the maximum safe working height which can be reached by different arm supports for the same amplitude variation angle under different working conditions according to actual loads.
Fig. 1 is a schematic flow chart of a method for controlling an aerial work platform according to an embodiment of the present invention. As shown in fig. 1, the aerial work platform control method includes the following steps:
s1, obtaining the relation between the moment sum M' of all elements of the aerial work platform moment under the current working condition, which is influenced by the boom amplitude angle, and the maximum boom elongation allowed under the current working condition based on the boom amplitude angle of the actual load under the current working condition;
s2, acquiring a preset torque sum M corresponding to the rated load under the current working condition;
s3, assigning the preset moment sum M to the actual moment sum M', and calculating the maximum arm frame elongation allowed under the current working condition;
under the condition of the actual load of the aerial work platform, the preset moment sum M is the safe maximum moment of the aerial work platform, and the current working condition actual moment sum M' is equal to the preset moment sum M under the current working condition, so that the maximum elongation of the boom can be obtained when the aerial work platform is safe and does not tip. The utilization rate of high-altitude operation is improved.
And S4, controlling the maximum extension amount of the current arm support obtained by the extension of the arm support.
The maximum elongation of the arm support allowed under the current working condition is unknown, so that the relation between the moment sum M' of all elements of the high-altitude operation platform moment influenced by the amplitude variation angle of the arm support under the current working condition and the maximum elongation of the arm support allowed under the current working condition can be obtained. Therefore, the maximum extension amount of the arm support which can be reached when the aerial work platform is safe and does not tip over can be ensured under different working conditions and different loads, so that the safe working range of the aerial work platform is enlarged, and the utilization rate of the aerial work platform is improved.
Optionally, in view that the extension and retraction of the boom only affects the moment of some elements of the aerial work platform, in order to reduce the calculation amount of the controller, the element whose moment is affected at each boom amplitude angle is selected in the present implementation. Specifically, each element of the moment influenced by the amplitude angle of the arm support comprises the arm support, an actual load, a rated load, a manual operation force, a wind load, a special load, an operation platform and the like. Where the actual load is the total weight of people, tools and materials, except the work platform.
FIG. 2 is a schematic structural diagram of an aerial work platform provided by an embodiment of the present invention; fig. 3 is a schematic position diagram of the aerial work platform provided by the embodiment of the invention under a flat ground working condition. The operating condition refers to the operating state of the equipment under the condition directly related to the action of the equipment. Optionally, in this embodiment, the operating conditions include a level ground operating condition and a gradient operating condition. The working condition on the flat ground refers to a working state of the aerial work platform when the aerial work platform is on the flat ground, and when the aerial work platform is on the flat ground, as shown in fig. 2, the work gradient of the aerial work platform is δ = 0. The slope working condition refers to the working state of the aerial work platform on the ground with the slope, and when the aerial work platform is in the slope working condition, as shown in fig. 3, the work slope of the aerial work platform is delta larger than 0.
The maximum boom extension allowed under the current working conditions will be described in detail below
The manner of acquisition.
When the aerial work platform is supposed to be in a slope working condition, defining a base coordinate system of the aerial work platform by taking a tipping line as a y axis and taking a horizontal line where a contact point of a tire and the ground is located as an x axis; the amplitude variation angle of the arm support is theta, the corresponding elongation under rated load is delta, and the manual operation force is FHand (W.E.)(ii) a Wherein δ, θ, Δ and FHand (W.E.)Are all known values;
setting the weight of the chassis to S1The position of the center of gravity is relative to the base coordinate system
Moment of chassis
；
Set the weight of the turntable to S2The position of the center of gravity is relative to the base coordinate system
Moment of the rotary table
；
Setting the weight of the work platform to S3The position of the center of gravity is relative to the base coordinate system
Moment of operation platform
；
Setting the weight of the rated load to S4The position of the center of gravity is relative to the base coordinate system
Rated load moment
。
Setting the weight of the actual load to
The position of the center of gravity is relative to the base coordinate system
Then actual load force
。
Setting the arm supportWeight of S5The position of the center of gravity is relative to the base coordinate system
Moment of arm support
。
The position of the action of the manual operating force is relative to the base coordinate system
Then the manual operating torque
Assigning the preset moment sum M to the actual moment sum M', calculating and obtaining
，
The maximum elongation of the arm support allowed under the actual load under the current working condition is obtained.
It should be noted that the manual operating torque is calculated according to GB25849-2010 with a minimum manual operating force of 400N, at which time the manual operating torque is calculated
It should be noted that the rollover line should be determined in accordance with GB/T19924, but for solid tires and foam-filled tires, the rollover line may be considered as being located 1/4 inward of the width of the tire in contact with the ground.
The length of the arm support is l +, wherein l is the length of the arm support in a fully contracted state and is the maximum extensible amount of the arm support for ensuring the stability of the working platform under rated load.
The above is obtained because the high-altitude operation platform works delta =0 under the working condition of flat ground
The method can be directly applied to the working condition of flat ground.
Wherein,
the structural load is the weight of the aerial work platform components. The wind load is the total wind load experienced by the aerial work platform and the operator. The special load and force are generated by the aerial work platform under the condition of using a special working method and using conditions, and include but are not limited to bearing objects outside the work platform, wind force borne by large objects borne by the work platform and the like. The special load can be obtained according to the relevant work manual, and the special load is known to those skilled in the art, so how to obtain the special load is not described in detail.
Under the working condition without special load indoors, the total wind load moment borne by the aerial working platform and the rated load is
With a special load moment of
。
Under the same working condition, different boom amplitude angles correspond to different elongation of the boom. It should be noted that, no matter under any working condition, the ratio of the structural load moment of the aerial work platform to the sum of the rated load moment, the wind load moment, the manual operation force moment and the special load moment should be greater than or equal to the safety factor K, wherein the value K is an experimental value and is selected according to actual needs.
According to the formula, the preset moment sum under the current working condition is obtained by means of the maximum extensible amount of the arm support for ensuring the stability of the working platform under the rated load, therefore, the method needs to obtain the maximum extensible amount of the arm support corresponding to different variable amplitude angles under the rated load before execution, the preset moment sum corresponding to different variable amplitude angles can be obtained under the rated load, and the obtained preset moment sum can be directly written into the controller.
Under the current working condition, the structural load moment of the aerial work platform meets the requirement
Wherein;
the corresponding elongation delta under different rated loads is based on a formula
And (4) obtaining.
Wherein K is the safety factor, MWind (W)The total moment of the wind load borne by the aerial work platform and the rated load; mSpecially for treating chronic bronchitisA special load moment.
Since K, theta and delta are all known values, under the condition of different theta and different delta, the formula can be used for
A delta value is obtained. And obtaining the elongation delta different from the arm support corresponding to different amplitude angles and different inclination angles under different working conditions. And writing the amplitude angle, the inclination angle and the elongation delta and K value of the arm support into the controller as intermediate values for calculating the preset moment sum under the current working condition, so that the preset moment sum under the current working condition corresponding to the rated load can be obtained under the conditions of different working conditions, different amplitude angles and different inclination angles.
Specifically, the corresponding elongation Δ at different rated loads is based on the formula
Obtaining comprises the following steps:
setting structural load moment
；
By
Obtaining:
K. and both theta and delta are known values, and the coordinates of the gravity center corresponding to each element are also known, so that the delta value is obtained by the formula under the conditions of different boom amplitude angles theta and different operation gradients delta. The delta value is obtained under the condition that the safety coefficient meets the requirement, so that the delta value is the maximum elongation of the arm support when the aerial work platform is ensured to be safe and not to tip under the rated load.
It should be noted that, the acquisition of the corresponding elongation Δ under the rated load, whether in the flat ground condition or the slope condition, can be obtained by the above technical means.
Optionally, in this embodiment, the work slope of the work on the aerial work platform is acquired and output by the tilt angle detection sensor. Optionally, in this embodiment, the variable amplitude angle of the boom is acquired and output by an angle sensor mounted on the boom. The tilt angle detection sensor and the angle sensor are both in the prior art, and the working principle and the specific structure of the tilt angle detection sensor are not repeated.
In this embodiment, an aerial work platform is further provided, and the aerial work platform adopts the aerial work platform control method provided by the invention to perform the lifting work of the arm support.
Specifically, as shown in fig. 4, the aerial work platform specifically includes a chassis 1, a turntable 2, an arm support 3, a platform, an arm support amplitude angle detection unit, an arm support length detection unit, an arm support telescopic amplitude execution unit, and a control unit 9, wherein tires are disposed below the chassis 1, the turntable 2 is disposed on the chassis 1, and the turntable 2 can rotate relative to the chassis 1 to meet the needs of different tasks. The arm support 3 is arranged on the rotary table 2, the arm support 3 can be extended or shortened, one end of the arm support 3 can be freely stretched according to actual needs, the platform is arranged at one end of the arm support 3, which can be freely stretched, and the platform is changed according to the extension or shortening height of the arm support 3. The operating personnel can stand in the platform to carry out the operation, can also put instrument and other materials in the platform to operating personnel uses.
Optionally, the boom variable amplitude angle detection unit is two angle sensors, the two angle sensors are mounted at the tail of one section of the boom 3, a single shaft of each angle sensor outputs an analog signal and realizes double-path calibration, and the output signal is a current signal.
Optionally, the boom length detection unit is a pull wire sensor, the pull wire sensor body is mounted at the tail of one section of the boom 3, the pull ring is fixed on the two sections of the boom, and the signal output is an analog current signal and is in a linear relationship with the length of the pull wire.
The control unit 9 stores boom extension control instructions, can be in real-time communication with each detection unit, realizes the setting of instruction parameters by means of a display and other human-computer interaction interfaces, and outputs control signals to the boom extension amplitude execution unit.
The boom telescopic variable amplitude execution unit comprises a telescopic oil cylinder, a variable amplitude oil cylinder 7 and a multi-way valve 8, wherein the telescopic oil cylinder is positioned in the boom 3 and is communicated with the multi-way valve 8, and the multi-way valve 8 receives a control signal of a control unit 9 and adjusts the opening degree of a valve core, so that the oil inlet and outlet amount of the telescopic oil cylinder and/or the variable amplitude oil cylinder 7 is controlled, and the telescopic variable amplitude control of the boom 3 is realized. The specific connections between the telescopic oil cylinder and the multi-way valve 8 and between the variable amplitude oil cylinder 7 and the multi-way valve 8 can be various, and the connections are the prior art, and therefore are not described herein in detail.
The aerial work platform further comprises a load weighing unit 10, specifically, the load weighing unit 10 is a weighing sensor, the body is installed in the platform, the signal output is an analog current signal, and the linear relation is formed between the signal output and the length of the stay wire.
The aerial work platform further comprises an inclination angle detection unit used for detecting the work gradient delta of the aerial work platform. The inclination angle detection unit is an inclination angle detection sensor, the body is arranged in the rotary table 2, and the output signal is a current signal.
Example two
An embodiment of the invention further provides a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, performs the steps of the aerial work platform control method. The method comprises the following steps:
obtaining the current working condition moment sum M' of each element of the aerial work platform influenced by the boom amplitude angle based on the boom amplitude angle of the actual load under the current working condition;
obtaining the maximum elongation of the current boom corresponding to the boom variable amplitude angle of the current working condition based on the mapping relation between the torque sum M of the current working condition and the preset torque sum M of the rated load under the current working condition;
and controlling the maximum elongation of the current arm support obtained by the elongation of the arm support.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LA N) or a wide area network (WA N), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A control method for an aerial work platform is characterized by comprising the following steps:
based on the boom amplitude angle of the actual load under the current working condition, obtaining the relation between the moment sum M' of all elements of the aerial work platform under the current working condition, which is influenced by the boom amplitude angle, and the maximum boom elongation allowed under the current working condition;
acquiring a preset moment sum M corresponding to a rated load under the current working condition;
assigning the preset moment sum M to the actual moment sum M', and calculating the maximum allowable arm support elongation under the current working condition;
and controlling the maximum elongation of the current arm support obtained by the elongation of the arm support.
2. The aerial work platform control method as claimed in claim 1, wherein the elements of the moment affected by the boom luffing angle include the boom, actual load, rated load, manual operating force, wind load, special load and work platform.
3. The aerial work platform control method of claim 1, wherein the work conditions comprise a level ground work condition and a grade work condition, and when the aerial work platform is in the level ground work condition, the work grade δ =0 of the aerial work platform;
when the aerial work platform is in a slope working condition, the work slope delta of the aerial work platform is larger than 0.
4. The aerial platform control method of claim 3 wherein the base coordinate system defining the aerial platform is defined with the tip-over line as the y-axis and the horizontal line at which the contact point of the tire with the ground is located as the x-axis; the amplitude variation angle of the arm support is theta, the corresponding elongation under rated load is delta, and the manual operation force is FHand (W.E.)(ii) a The delta, theta, delta and FHand (W.E.)Are all known values;
the weight of the operation platform is S3The position of the center of gravity relative to the base coordinate system is:
moment of operation platform
；
The weight of the rated load is S4The position of the center of gravity relative to the base coordinate system is:
rated load moment
；
The actual load has a weight of
The position of the center of gravity relative to the base coordinate system is:
then the actual load force
；
The weight of the arm support is S5The position of the center of gravity relative to the base coordinate system is:
moment of arm support
；
The acting position of the manual operation force relative to the base coordinate is as follows:
then the manual operating torque
Assigning the preset moment sum M to the actual moment sum M', calculating and obtaining
Said
The maximum elongation of the arm support allowed under the actual load under the current working condition is obtained.
5. The aerial work platform control method of claim 4,
under the current working condition, the structural load moment of the aerial work platform meets the requirement
Wherein;
the corresponding elongation delta under different rated loads is based on a formula
Obtaining;
wherein K is a safety factor, MWind powerThe total moment of the wind load borne by the aerial work platform and the rated load; mSpecially for treating diabetesA special load moment.
6. Method for controlling an aerial work platform according to claim 5, wherein the elongation Δ corresponding to different rated loads is based on a formula
Obtaining comprises the following steps:
setting the weight of the chassis to S1The position of the center of gravity is relative to the base coordinate system
Moment of chassis
；
Set the weight of the turntable to S2The position of the center of gravity is relative to the base coordinate system
Moment of the rotary table
；
Under the working condition that no special load exists indoors, the total wind load moment borne by the aerial work platform and the rated load is
The special load moment is
；
Setting structural load moment
By
Obtaining:
and all the K, the theta and the delta are known values, and the delta value is obtained by the formula under the condition of different theta and different delta.
7. The aerial work platform control method of claim 4 wherein the work grade of the aerial work platform work is collected and output by a tilt angle detection sensor.
8. The aerial work platform control method as defined in claim 4, wherein the amplitude angle of the arm support is acquired and output by an angle sensor mounted on the arm support.
9. An aerial work platform employing the aerial work platform control method of any one of claims 1 to 8.
10. A computer-readable storage medium, having stored thereon a computer program for performing, when executed by a processor, the steps of the aerial work platform control method according to any one of claims 1 to 8.
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| CN116553449A (en) * | 2023-07-05 | 2023-08-08 | 徐工消防安全装备有限公司 | Operation control method and device and operation vehicle |
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